diff --git a/vllm/config/speculative.py b/vllm/config/speculative.py
index 2e4b3d3a6b202..5f462442148f8 100644
--- a/vllm/config/speculative.py
+++ b/vllm/config/speculative.py
@@ -540,7 +540,7 @@ class SpeculativeConfig:
                              "speculative decoding is > 1, but got "
                              f"{self.disable_by_batch_size=}")
 
-        eagle3_target_supported = ["llama", "qwen", "gpt_oss"]
+        eagle3_target_supported = ["llama", "qwen", "minicpm", "gpt_oss"]
         if self.method == "eagle3" and self.target_model_config and not any(
                 supported_model in
                 self.target_model_config.hf_text_config.model_type
diff --git a/vllm/model_executor/models/minicpm.py b/vllm/model_executor/models/minicpm.py
index 0986ea07406a9..55fe3e2ae3ae7 100644
--- a/vllm/model_executor/models/minicpm.py
+++ b/vllm/model_executor/models/minicpm.py
@@ -55,7 +55,7 @@ from vllm.model_executor.utils import set_weight_attrs
 from vllm.platforms import current_platform
 from vllm.sequence import IntermediateTensors
 
-from .interfaces import SupportsLoRA, SupportsPP
+from .interfaces import SupportsEagle3, SupportsLoRA, SupportsPP
 from .utils import (AutoWeightsLoader, is_pp_missing_parameter,
                     make_empty_intermediate_tensors_factory, make_layers,
                     maybe_prefix)
@@ -381,6 +381,9 @@ class MiniCPMModel(nn.Module):
         self.num_experts = getattr(self.config, "num_experts", 0)
         self._init_layers(prefix, config, cache_config, quant_config)
         self.norm = RMSNorm(config.hidden_size, eps=config.rms_norm_eps)
+
+        self.aux_hidden_state_layers = tuple[int, ...]()
+
         self.make_empty_intermediate_tensors = (
             make_empty_intermediate_tensors_factory(
                 ["hidden_states", "residual"], self.config.hidden_size))
@@ -408,7 +411,8 @@ class MiniCPMModel(nn.Module):
         positions: torch.Tensor,
         intermediate_tensors: Optional[IntermediateTensors] = None,
         inputs_embeds: Optional[torch.Tensor] = None,
-    ) -> Union[torch.Tensor, IntermediateTensors]:
+    ) -> Union[torch.Tensor, IntermediateTensors, tuple[torch.Tensor,
+                                                        list[torch.Tensor]]]:
         if get_pp_group().is_first_rank:
             if inputs_embeds is not None:
                 hidden_states = inputs_embeds
@@ -419,18 +423,29 @@ class MiniCPMModel(nn.Module):
             hidden_states = intermediate_tensors["hidden_states"]
             residual = intermediate_tensors["residual"]
 
-        for layer in islice(self.layers, self.start_layer, self.end_layer):
+        aux_hidden_states = []
+        for idx, layer in enumerate(
+                islice(self.layers, self.start_layer, self.end_layer)):
+            if idx in self.aux_hidden_state_layers:
+                aux_hidden_states.append(
+                    hidden_states +
+                    residual if residual is not None else hidden_states)
             hidden_states, residual = layer(
                 positions,
                 hidden_states,
                 residual,
             )
+
         if not get_pp_group().is_last_rank:
             return IntermediateTensors({
                 "hidden_states": hidden_states,
                 "residual": residual
             })
+
         hidden_states = self.norm(hidden_states)
+
+        if len(aux_hidden_states) > 0:
+            return hidden_states, aux_hidden_states
         return hidden_states
 
     def load_weights(self, weights: Iterable[tuple[str,
@@ -502,7 +517,7 @@ class MiniCPMModel(nn.Module):
         return loaded_params
 
 
-class MiniCPMForCausalLM(nn.Module, SupportsLoRA, SupportsPP):
+class MiniCPMForCausalLM(nn.Module, SupportsLoRA, SupportsPP, SupportsEagle3):
     packed_modules_mapping = {
         "qkv_proj": [
             "q_proj",
@@ -568,16 +583,36 @@ class MiniCPMForCausalLM(nn.Module, SupportsLoRA, SupportsPP):
     def get_input_embeddings(self, input_ids: torch.Tensor) -> torch.Tensor:
         return self.model.get_input_embeddings(input_ids)
 
+    def set_aux_hidden_state_layers(self, layers: tuple[int, ...]) -> None:
+        self.model.aux_hidden_state_layers = layers
+
+    def get_eagle3_aux_hidden_state_layers(self) -> tuple[int, ...]:
+        num_layers = len(self.model.layers)
+        return (2, num_layers // 2, num_layers - 3)
+
     def forward(
         self,
         input_ids: torch.Tensor,
         positions: torch.Tensor,
         intermediate_tensors: Optional[IntermediateTensors] = None,
         inputs_embeds: Optional[torch.Tensor] = None,
-    ) -> Union[torch.Tensor, IntermediateTensors]:
-        hidden_states = self.model(input_ids, positions, intermediate_tensors,
-                                   inputs_embeds) / self.scale_width
-        return hidden_states
+    ) -> Union[torch.Tensor, IntermediateTensors, tuple[torch.Tensor,
+                                                        list[torch.Tensor]]]:
+        model_output = self.model(input_ids, positions, intermediate_tensors,
+                                  inputs_embeds)
+
+        if isinstance(model_output, tuple) and len(model_output) == 2:
+            # Aux hidden states are present.
+            hidden_states, aux_hidden_states = model_output
+            hidden_states = hidden_states / self.scale_width
+            return hidden_states, aux_hidden_states
+        else:
+            # Only hidden states or IntermediateTensors
+            if isinstance(model_output, IntermediateTensors):
+                return model_output
+            else:
+                hidden_states = model_output / self.scale_width
+                return hidden_states
 
     def compute_logits(
         self,